Merge remote-tracking branch 'origin/master-tici' into hkg-angle-steering-2025-tici

# Conflicts: # .github/workflows/sunnypilot-build-prebuilt.yaml # .github/workflows/sunnypilot-master-dev-prep.yaml # system/version.py
(TICI) sync master and master-tici (#1245 )
2026-08-21 07:03:44 +08:00 · 2025-09-14 12:51:08 +02:00 · 2025-09-14 12:18:59 +02:00 · 2025-09-14 06:52:24 +02:00 · 2025-09-14 06:38:00 +02:00 · 2025-09-13 08:32:27 +02:00
179 changed files with 8096 additions and 1205 deletions
@@ -2,4 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
@@ -29,11 +29,11 @@ jobs:
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
        exclude: /sunnypilot:.*/
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"

  update-pr-labels:
    name: Update fork's PR Labels
@@ -5,7 +5,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  DOCKER_REGISTRY: ghcr.io/sunnypilot
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c

@@ -3,7 +3,7 @@ name: cereal validation
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
    paths:
      - 'cereal/**'
@@ -16,7 +16,7 @@ on:
        type: string

 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -31,7 +31,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
    with:
      run_number: ${{ matrix.run_number }}

@@ -12,6 +12,6 @@ concurrency:

 jobs:
  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
    with:
      run_number: ${{ inputs.run_number }}
@@ -15,7 +15,7 @@ runs:
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: .ci_cache/scons_cache
        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -3,7 +3,7 @@ name: docs
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_call:
    inputs:
@@ -12,7 +12,7 @@ on:
        required: true
        type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 jobs:
@@ -35,13 +35,13 @@ jobs:

    # Push to docs.comma.ai
    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
        repository: sunnypilot/sunnypilot-docs
    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        set -x

@@ -24,11 +24,11 @@ jobs:
      if: ${{ github.event_name != 'workflow_dispatch' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
    - uses: actions/checkout@v4
      with:
        submodules: true
@@ -19,6 +19,7 @@ jobs:
      contents: write
      pull-requests: write
    runs-on: ubuntu-latest
+    if: False
    steps:
      - uses: release-drafter/release-drafter@v6
        with:
@@ -10,7 +10,7 @@ jobs:
    env:
      ImageOS: ubuntu24
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    runs-on: ubuntu-latest
    if: github.repository == 'sunnypilot/sunnypilot'
    permissions:
@@ -25,7 +25,7 @@ jobs:
      if: ${{ github.event_name == 'schedule' }}
      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
-        ref: master
+        ref: master-tici
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
@@ -39,4 +39,4 @@ jobs:
        git config --global --add safe.directory '*'
        git lfs pull
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_stripped.sh
@@ -6,7 +6,7 @@ on:
  workflow_dispatch:

 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  BUILD: release/ci/docker_build_sp.sh base
  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

@@ -28,7 +28,7 @@ jobs:
          title: "[bot] Update translations"
          body: "Automatic PR from repo-maintenance -> update_translations"
          branch: "update-translations"
-          base: "master"
+          base: "master-tici"
          delete-branch: true
          labels: bot

@@ -36,13 +36,14 @@ jobs:
    name: package_updates
    runs-on: ubuntu-latest
    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - name: uv lock
+      if: github.repository == 'commaai/openpilot'
      run: |
        python3 -m ensurepip --upgrade
        pip3 install uv
@@ -67,7 +68,7 @@ jobs:
        commit-message: Update Python packages
        title: '[bot] Update Python packages'
        branch: auto-package-updates
-        base: master
+        base: master-tici
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> package_updates'
        labels: bot
@@ -3,7 +3,7 @@ name: selfdrive
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request:
  workflow_dispatch:
  workflow_call:
@@ -14,12 +14,12 @@ on:
        type: string

 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -27,7 +27,7 @@ env:

  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

 jobs:
  build_release:
@@ -52,7 +52,7 @@ jobs:
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -68,10 +68,10 @@ jobs:
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici

-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
            if git ls-files --stage "$path" | grep -q "^160000"; then
              echo "$path"
            fi
@@ -97,7 +97,7 @@ jobs:
      with:
        submodules: true
    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
        PYTHONWARNINGS: default
    - name: Save Homebrew cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: ~/Library/Caches/Homebrew
        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
      run: . .venv/bin/activate && scons -j$(nproc)
    - name: Save scons cache
      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
      with:
        path: /tmp/scons_cache
        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -190,7 +190,8 @@ jobs:
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -304,5 +305,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -14,7 +14,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
@@ -8,21 +8,15 @@ env:
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  
  # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
  
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"

 on:
  push:
-    branches: [ master, master-dev-c3-new ]
-    tags: [ '*' ]
+    branches: [ master-tici ]
+    tags: [ 'release/*' ]
  pull_request_target:
    types: [ labeled ]
  workflow_dispatch:
@@ -34,9 +28,72 @@ on:
        default: false

 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+          
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+  
  validate_tests:
    runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
    steps:
      - uses: actions/checkout@v4
      - name: Wait for Tests
@@ -44,19 +101,26 @@ jobs:
        with:
          workflow: selfdrive_tests.yaml # The workflow file to monitor
          github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}

  build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
    concurrency:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
    runs-on: [self-hosted, tici]
    outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
+      }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -77,61 +141,12 @@ jobs:
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}

-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-          !(startsWith(github.ref, 'refs/tags/'))
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_dev_configuration.outcome == 'skipped' &&
-          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-          steps.set_feature_configuration.outcome == 'skipped' &&
-          !contains(github.event_name, 'pull_request') &&
-          steps.set_staging_configuration.outcome == 'skipped' &&
-          startsWith(github.ref, 'refs/tags/')
-          )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
      - name: Set environment variables
        id: set-env
        run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
          
          # Set up common environment
@@ -226,15 +241,19 @@ jobs:
        if: always()
        run: |
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
+  
+  
  publish:
    concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
    runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
    steps:
      - uses: actions/checkout@v4

@@ -266,7 +285,7 @@ jobs:
            "${{ needs.build.outputs.new_branch }}" \
            "${{ needs.build.outputs.version }}" \
            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"

          echo ""
          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
@@ -274,11 +293,18 @@ jobs:
          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"
+      
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}

  notify:
    needs: [ build, publish ]
    runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
    steps:
      - uses: actions/checkout@v4
      - name: Setup Alpine Linux environment
@@ -1,7 +1,7 @@
 name: Build dev-c3-new

 env:
-  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
  PR_LABEL: "dev-c3"
  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
@@ -10,17 +10,17 @@ env:
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [ labeled ]
    branches:
-      - 'master'
+      - 'master-tici'
  workflow_dispatch:
    inputs:
      source_branch:
        description: 'Source branch to reset from'
        required: true
-        default: 'master'
+        default: 'master-tici'
        type: string
      target_branch:
        description: 'Target branch to reset and squash into'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-      )
+    if: False
    steps:
      - uses: actions/checkout@v4
        with:
@@ -2,19 +2,19 @@ name: "ui preview"
 on:
  push:
    branches:
-      - master
+      - master-tici
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
-      - 'master'
+      - 'master-tici'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:

 env:
  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"

 jobs:
@@ -55,7 +55,7 @@ jobs:
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui

-      - name: Getting master ui
+      - name: Getting master-tici ui
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui

-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:

          for ((i=0; i<${#A[*]}; i=i+1));
          do
-            # Check if the master file exists
+            # Check if the master-tici file exists
            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
              DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
              DIFF="${DIFF}<table>"

              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"

@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest

 ENV PYTHONUNBUFFERED=1

@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -22,19 +22,47 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links

 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
+
+
+|     Branch      |               Installation URL                |
+|:---------------:|:---------------------------------------------:|
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |
+
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
+
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+
+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.

 |    Branch    |         Installation URL         |
 |:------------:|:--------------------------------:|
@@ -42,25 +70,9 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |

-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+</details>


-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
-
-> [!TIP]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
-
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

@@ -1,18 +1,22 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!

 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
  * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
  * Low-speed lead car ground-truth fixes
-
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!

 Version 0.9.9 (2025-05-23)
 ========================
@@ -172,6 +172,8 @@ struct OnroadEventSP @0xda96579883444c35 {
    experimentalModeSwitched @14;
    wrongCarModeAlertOnly @15;
    pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
  }
 }

@@ -258,9 +260,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
  roadName @5 :Text;
 }

-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }

+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }

@@ -2631,7 +2631,7 @@ struct Event {
    backupManagerSP @113 :Custom.BackupManagerSP;
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
    customReserved10 @136 :Custom.CustomReserved10;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
@@ -88,6 +88,7 @@ _services: dict[str, tuple] = {
  "carControlSP": (True, 100., 10),
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),

  # debug
  "uiDebug": (True, 0., 1),
@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
    {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -146,6 +146,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -153,8 +155,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
@@ -167,6 +171,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

@@ -192,14 +197,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

-    // model panel params
+    // sunnypilot model params
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING, ""}},
+    {"MapdVersion", {PERSISTENT, STRING}},
    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -215,5 +222,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateName", {PERSISTENT, STRING, "All"}},
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -14,8 +14,7 @@ class PIDController:
    if isinstance(self._k_d, Number):
      self._k_d = [[0], [self._k_d]]

-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)

    self.i_rate = 1.0 / rate
    self.speed = 0.0
@@ -41,6 +40,10 @@ class PIDController:
    self.f = 0.0
    self.control = 0

+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
    self.speed = speed
    self.p = float(error) * self.k_p
@@ -1,4 +1,6 @@
 import subprocess
+from contextlib import contextmanager
+from subprocess import Popen, PIPE, TimeoutExpired


 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
  except subprocess.CalledProcessError:
    return default

+
+@contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
@@ -4,12 +4,13 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 325 Supported Cars
+# 334 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,19 +73,25 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -95,6 +102,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -119,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -297,6 +305,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu

 ### Getting Started

-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*

-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

 And if you have a comma 3/3X, we'll deploy the change to your device for testing.

-## 1. Setup your development environment
+## 1. Set up your development environment

 Run this to clone openpilot and install all the dependencies:
 ```bash
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.6"
+  export AGNOS_VERSION="12.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -1,3 +1,20 @@
 #!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
+
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
+fi

 exec ./launch_chffrplus.sh
@@ -3,33 +3,34 @@
 ```
 ## release checklist

-**Go to `devel-staging`**
- [ ] make issue to track release
+### Go to staging
+- [ ] make a GitHub issue to track release
+- [ ] create release master branch
 - [ ] update RELEASES.md
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
 - [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`

-**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request, test the following:
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
+### Go to release
+- [ ] before going to release, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
-  - [ ] stress test in production
-
-**Go to `release3`**
+  - [ ] stress test passes in production
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
- [ ] close out milestone
+- [ ] close out milestone and issue
 - [ ] post on Discord, X, etc.
 ```
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true

-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR

-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp

 # remove everything except .git
 echo "[-] erasing old sunnypilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff

 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -47,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/

 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed

 # include source commit hash and build date in commit
@@ -85,7 +81,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
  export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
  export DOCKER_FILE=Dockerfile.sunnypilot
 else
  echo "Invalid docker build image: '$1'"
@@ -51,26 +51,19 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all

 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH

 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)

-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
+# Commit with detailed message
+git commit -a -m "sunnypilot v$VERSION
+version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
+date: $DATETIME
+master commit: $GIT_HASH
+"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 git branch -m $DEV_BRANCH

 # Push!
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -95,6 +95,8 @@ class Controls(ControlsExt, ModelStateBase):
        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                           torque_params.frictionCoefficientFiltered)

+        self.LaC.extension.update_limits()
+
      self.LaC.extension.update_model_v2(self.sm['modelV2'])

      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
@@ -1,7 +1,8 @@
-from cereal import log
+from cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -30,6 +31,12 @@ DESIRES = {
  },
 }

+TURN_DESIRES = {
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
+}
+

 class DesireHelper:
  def __init__(self):
@@ -41,13 +48,21 @@ class DesireHelper:
    self.prev_one_blinker = False
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = custom.TurnDirection.none

  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
+    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
    one_blinker = carstate.leftBlinker != carstate.rightBlinker
    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN

+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
      self.lane_change_state = LaneChangeState.off
      self.lane_change_direction = LaneChangeDirection.none
@@ -106,7 +121,10 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    if self.lane_turn_direction != custom.TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]

    # Send keep pulse once per second during LaneChangeStart.preLaneChange
    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
@@ -0,0 +1,13 @@
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+
+
+class LatControlAngleTorque(LatControlTorque, LatControlAngle):
+  def __init__(self, CP, CP_SP, CI):
+    LatControlTorque.__init__(self, CP, CP_SP, CI)
+    LatControlAngle.__init__(self, CP, CP_SP, CI)
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+    torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    _, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    return torque, angle, angle_log
@@ -3,7 +3,6 @@ import numpy as np

 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -29,17 +28,24 @@ class LatControlTorque(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf)
+    self.update_limits()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)

  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
    self.torque_params.latAccelFactor = latAccelFactor
    self.torque_params.latAccelOffset = latAccelOffset
    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -61,33 +67,31 @@ class LatControlTorque(LatControl):
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          gravity_adjusted=True)
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(setpoint - measurement)
+      ff = gravity_adjusted_lateral_accel
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

-      # Lateral acceleration torque controller extension updates
-      # Overrides stock ff and pid_log.error
-      ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-                                          desired_curvature, actual_curvature)
-
      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
+      output_lataccel = self.pid.update(pid_log.error,
                                      feedforward=ff,
                                      speed=CS.vEgo,
                                      freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                                     desired_curvature, actual_curvature, steer_limited_by_safety, output_torque)

      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.d = float(self.pid.d)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
      pid_log.actualLateralAccel = float(actual_lateral_accel)
      pid_log.desiredLateralAccel = float(desired_lateral_accel)
      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
    if not self.mlsim:
-      self.mpc.mode = self.mode
+      self.mpc.mode = mode
    LongitudinalPlannerSP.update(self, sm)
    if dec_mpc_mode := self.get_mpc_mode():
-      self.mode = dec_mpc_mode
+      mode = dec_mpc_mode
      if not self.mlsim:
        self.mpc.mode = dec_mpc_mode

@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    if self.mode == 'acc':
+    if mode == 'acc':
      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.mode == 'acc' or not self.mlsim:
+    if mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -17,7 +18,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac

 class TestLatControl:

-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)

    # policy inputs
    self.numpy_inputs = {
      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -225,7 +216,7 @@ def main(demo=False):
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])

  publish_state = PublishState()
@@ -299,7 +290,6 @@ def main(demo=False):
    if sm.frame % 60 == 0:
      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -332,7 +322,6 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
    }

    mt1 = time.perf_counter()
@@ -344,6 +333,7 @@ def main(demo=False):
      modelv2_send = messaging.new_message('modelV2')
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')

      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
      prev_action = action
@@ -358,6 +348,7 @@ def main(demo=False):
      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

@@ -365,6 +356,7 @@ def main(demo=False):
      pm.send('modelV2', modelv2_send)
      pm.send('drivingModelData', drivingdata_send)
      pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
    last_vipc_frame_id = meta_main.frame_id


@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
-size 15583374
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+size 46271991
@@ -22,9 +22,10 @@ class Parser:
    self.ignore_missing = ignore_missing

  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
      raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing

  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
    if self.check_missing(outs, name):
@@ -84,6 +85,13 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -94,23 +102,17 @@ class Parser:
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

@@ -93,7 +93,7 @@ def main() -> None:

      # TODO: remove this in the next AGNOS
      # wait until USB is up before counting
-      if time.monotonic() < 35.:
+      if time.monotonic() < 60.:
        no_internal_panda_count = 0

      # Handle missing internal panda
@@ -49,5 +49,10 @@
    "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
    "severity": 1,
    "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
  }
 }
@@ -86,7 +86,7 @@ class SelfdriveD(CruiseHelper):
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -95,7 +95,8 @@ class SelfdriveD(CruiseHelper):
    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP'] + \
                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -265,7 +266,10 @@ class SelfdriveD(CruiseHelper):
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # Check for excessive actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
    if self.sm.updated['liveCalibration']:
      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
    if self.sm.updated['livePose']:
@@ -280,6 +284,7 @@ class SelfdriveD(CruiseHelper):

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************

    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
@@ -296,6 +301,13 @@ class SelfdriveD(CruiseHelper):
                                                    LaneChangeState.laneChangeFinishing):
      self.events.add(EventName.laneChange)

+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
    for i, pandaState in enumerate(self.sm['pandaStates']):
      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
      if i < len(self.CP.safetyConfigs):
@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+6d3219bca9f66a229b38a5382d301a92b0147edb
@@ -63,7 +63,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body"]
+excluded_interfaces = ["mock", "body", "psa"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -333,20 +333,18 @@ class TestOnroad:
            assert np.all(eof_sof_diff > 0)
            assert np.all(eof_sof_diff < 50*1e6)

-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"

        # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10

-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
          diff = (max(ts.values()) - min(ts.values()))
@@ -22,8 +22,9 @@ def main():
    sm.update()
    should_send_bookmark = False

+    # TODO: https://github.com/commaai/openpilot/issues/36015
    # only allow the LKAS button to record feedback when MADS is disabled
-    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
      for be in sm['carState'].buttonEvents:
        if be.type == ButtonType.lkas:
          if be.pressed:
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"

-const std::string CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";

-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"

+const int FONT_SIZE = 120;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
  assert(err == 0);
 }

+void finishInstall() {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    const char *m = "Finishing install...";
+    int text_width = MeasureText(m, FONT_SIZE);
+    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+  EndDrawing();
+  util::sleep_for(60 * 1000);
+}
+
 void renderProgress(int progress) {
  BeginDrawing();
    ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
  }

  // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);

  // do the install
-  if (util::file_exists(CACHE_PATH)) {
-    return cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
  } else {
    return freshClone();
  }
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
  run("git submodule update --init");

  // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());

 #ifdef INTERNAL
  run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
    param << value;
    param.close();
  }
-  run("cd " INSTALL_PATH " && "
+  run(("cd " + INSTALL_PATH + " && "
      "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif

  // write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
  run("mv /data/continue.sh.new " CONTINUE_PATH);

  // wait for the installed software's UI to take over
-  util::sleep_for(60 * 1000);
+  finishInstall();
 }

 int main(int argc, char *argv[]) {
  InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-  renderProgress(0);
-  int result = doInstall();
-  cloneFinished(result);
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
  CloseWindow();
  UnloadFont(font);
  return 0;
@@ -23,10 +23,6 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
-  "RecordAudioFeedback": (
-    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
-    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
-  ),
 }


@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
-      toggle_item(
-        "Record Audio Feedback with LKAS button",
-        DESCRIPTIONS["RecordAudioFeedback"],
-        self._params.get_bool("RecordAudioFeedback"),
-        icon="microphone.png",
-      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
@@ -2,12 +2,15 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache

 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID

+TOKEN_EXPIRY_HOURS = 2
+

 class PrimeType(IntEnum):
  UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
  PURPLE = 5,


+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
      return

    try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")

@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
    )

-    self._update_experimental_gradient(self._rect.height)
+    self._update_experimental_gradient()

-  def _update_experimental_gradient(self, height):
+  def _update_experimental_gradient(self):
    """Pre-calculate experimental mode gradient colors"""
    if not self._experimental_mode:
      return
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):

    i = 0
    while i < max_len:
-      track_idx = max_len - i - 1  # flip idx to start from bottom right
-      track_y = self._path.projected_points[track_idx][1]
-      if track_y < 0 or track_y > height:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
        i += 1
        continue

-      # Calculate color based on acceleration
-      lin_grad_point = (height - track_y) / height
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height

      # speed up: 120, slow down: 0
-      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
-      path_hue = int(path_hue * 100 + 0.5) / 100
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)

      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
-      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])

      # Use HSL to RGB conversion
      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):

    if self._experimental_mode:
      # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 2:
+      if len(self._exp_gradient['colors']) > 1:
        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
      else:
        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):

    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

-  @staticmethod
-  def _map_val(x, x0, x1, y0, y1):
-    x = np.clip(x, x0, x1)
-    ra = x1 - x0
-    rb = y1 - y0
-    return (x - x0) * rb / ra + y0 if ra != 0 else y0
-
  @staticmethod
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
-    {
-      "RecordAudioFeedback",
-      tr("Record Audio Feedback with LKAS button"),
-      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
-      "../assets/icons/microphone.png",
-      false,
-    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -4,6 +4,9 @@
 #include <map>

 #include "selfdrive/ui/qt/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif

 void OnroadAlerts::updateState(const UIState &s) {
  Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -73,6 +76,12 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
  }
  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);

+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
+  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
+#endif
+
  QPainter p(this);

  // draw background + gradient
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
 #define ModelRenderer ModelRendererSP
+#define HudRenderer HudRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
@@ -73,6 +73,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  float y = surface_rect.height() - offset;
  float opacity = is_active ? 0.65f : 0.2f;

+#ifdef SUNNYPILOT
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  y -= dev_ui_info > 1 ? 50 : 0;
+#endif
+
  drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);

  QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
@@ -336,8 +336,8 @@ QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStrin
  return "";
 }

-TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                   const QString &current, QWidget *parent) : DialogBase(parent) {
+TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items,
+                                   const QString &current, const QString &favParam, QWidget *parent) : DialogBase(parent) {
  QFrame *container = new QFrame(this);
  container->setStyleSheet(R"(
    QFrame { background-color: #1B1B1B; }
@@ -375,6 +375,9 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
  main_layout->addSpacing(25);

+  iconBlank = QIcon("../../sunnypilot/selfdrive/assets/icons/star-empty.png");
+  iconFilled = QIcon ("../../sunnypilot/selfdrive/assets/icons/star-filled.png");
+
  treeWidget = new QTreeWidget(this);
  treeWidget->setHeaderHidden(true);
  treeWidget->setIndentation(50);
@@ -396,34 +399,49 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair

  QScroller::grabGesture(treeWidget->viewport(), QScroller::LeftMouseButtonGesture);

+  // Create initial list of favorites from param
+  const QString favs = QString::fromStdString(params.get(favParam.toStdString()));
+  mapFavs = new QMap<QString, QList<QPushButton*>>();
+  favRefs = new QStringList(favs.split(";"));
+  for (const QString &item : *favRefs)
+  {
+    mapFavs->insert( item, {});
+  }
+
  // Populate tree
-  QListIterator<QPair<QString, QStringList>> iter(items);
+  QListIterator<TreeFolder> iter(items);
  while (iter.hasNext()) {
-    QPair currItem = iter.next();
-    if (currItem.first.isEmpty()) {
-      for (const QString &item : currItem.second) {
+    TreeFolder currItem = iter.next();
+    QString prevFolder;
+    QString currentFolder;
+    if (currItem.folder.isEmpty()) {
+      for (const TreeNode &item : currItem.items) {
        QTreeWidgetItem *topLevel = new QTreeWidgetItem();
-        topLevel->setText(0, item);
+        topLevel->setText(0, item.displayName);
+        topLevel->setData(0, Qt::UserRole, item.ref);
        topLevel->setFlags(topLevel->flags() | Qt::ItemIsSelectable);
        treeWidget->addTopLevelItem(topLevel);
-        if (item == current) {
+        if (item.ref == current) {
          topLevel->setSelected(true);
        }
      }
    } else {
-      QTreeWidgetItem *folderItem = new QTreeWidgetItem(treeWidget);
+      QList<QTreeWidgetItem*> folders = treeWidget->findItems(currItem.folder, Qt::MatchExactly, 0);
+      QTreeWidgetItem *folderItem = nullptr;
+      if (folders.isEmpty()) {
+        folderItem = new QTreeWidgetItem(treeWidget);
+      } else {
+        folderItem = folders.first();
+      }
      folderItem->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
-      folderItem->setText(0, "  " + currItem.first);
+      folderItem->setText(0, "  " + currItem.folder);
      folderItem->setFlags(folderItem->flags() | Qt::ItemIsAutoTristate);
      folderItem->setFlags(folderItem->flags() & ~Qt::ItemIsSelectable);

-      for (const QString &item : currItem.second)
+      for (const TreeNode item : currItem.items)
      {
-        QTreeWidgetItem *childItem = new QTreeWidgetItem(folderItem);
-        childItem->setText(0, item);
-        childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
-
-        if (item == current) {
+        QTreeWidgetItem *childItem = addChildItem(item.displayName, item.ref, folderItem);
+        if (item.ref == current) {
          childItem->setSelected(true);
          folderItem->setExpanded(true);
        }
@@ -431,6 +449,39 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
    }
  }

+  // Create favorites folder
+  favorites = new QTreeWidgetItem();
+  favorites->setIcon(0, QIcon(QPixmap("../assets/icons/menu.png")));
+  favorites->setText(0, "  " + tr("Favorites"));
+  favorites->setFlags(favorites->flags() | Qt::ItemIsAutoTristate);
+  favorites->setFlags(favorites->flags() & ~Qt::ItemIsSelectable);
+  treeWidget->insertTopLevelItem(1, favorites);
+
+  // Create favorite nodes
+  for (int i = favRefs->size() - 1; i >= 0; --i) {
+    QString item = favRefs->at(i);
+    if (item.isEmpty()) continue;
+
+    QTreeWidgetItemIterator treeIt(treeWidget);
+    QTreeWidgetItem *nodeItem = nullptr;
+    while (*treeIt) {
+      if (item == (*treeIt)->data(0, Qt::UserRole).toString()) {
+        nodeItem = (*treeIt);
+        break;
+      }
+      ++treeIt;
+    }
+    if (nodeItem == nullptr) continue;
+
+    QTreeWidgetItem *childItem = addChildItem(nodeItem->text(0),
+      nodeItem->data(0, Qt::UserRole).toString(), favorites);
+    if (item == current) {
+      treeWidget->collapseAll();
+      childItem->setSelected(true);
+      favorites->setExpanded(true);
+    }
+  }
+
  confirm_btn = new QPushButton(tr("Select"));
  confirm_btn->setObjectName("confirm_btn");
  confirm_btn->setEnabled(false);
@@ -438,7 +489,7 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
  QObject::connect(treeWidget, &QTreeWidget::itemSelectionChanged, [=]() {
    QList<QTreeWidgetItem*> selectedItems = treeWidget->selectedItems();
    if (!selectedItems.isEmpty()) {
-      selection = selectedItems.first()->text(0);
+      selection = selectedItems.first()->data(0, Qt::UserRole).toString();
      confirm_btn->setEnabled(selection != current);
    }
  });
@@ -465,11 +516,91 @@ TreeOptionDialog::TreeOptionDialog(const QString &prompt_text, const QList<QPair
  outer_layout->addWidget(container);
 }

-QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items,
-                                     const QString &current, QWidget *parent) {
-  TreeOptionDialog d(prompt_text, items, current, parent);
+QString TreeOptionDialog::getSelection(const QString &prompt_text, const QList<TreeFolder> &items,
+                                     const QString &current, const QString &favParam, QWidget *parent) {
+  TreeOptionDialog d(prompt_text, items, current, favParam, parent);
  if (d.exec()) {
    return d.selection;
  }
  return "";
 }
+
+/**
+ * Handles the addition or removal of items from the "favorites" list based on the provided reference identifier.
+ *
+ * @param displayName The text label associated with the item to be added or removed in the favorites.
+ * @param ref A unique reference key identifying the item.
+ * @param btn A pointer to the QPushButton associated with the item. The button's icon is updated to indicate
+ *            whether the item is currently favorited or not.
+ *
+ * If the item is already in the favorites, it is removed from the list, its associated buttons have their
+ * icons reset, and the favorites tree is updated accordingly. If the item is not in the favorites, it is
+ * added to the list, a new associated button is created, and the favorites tree is updated. The current
+ * state of the favorites is stored in the Params object as a semicolon-separated string.
+ */
+void TreeOptionDialog::handleFavorites(const QString &displayName, const QString &ref, QPushButton *btn) {
+  if (mapFavs->keys().contains(ref)) { // Remove from favorites
+    for (auto *itemBtn:mapFavs->value(ref))
+    {
+      itemBtn->setIcon(iconBlank);
+    }
+    mapFavs->remove(ref);
+    favRefs->removeAll(ref);
+    for (int i = 0; i < favorites->childCount(); ++i) {
+      QTreeWidgetItem* child = favorites->child(i);
+      if (child && child->data(0, Qt::UserRole).toString() == ref) {
+        favorites->removeChild(child);
+      }
+    }
+  } else { // Add to favorites
+    QPushButton *favBtn = new QPushButton();
+    btn->setIcon(iconFilled);
+    mapFavs->insert(ref, {btn, favBtn});
+    favRefs->append(ref);
+    addChildItem(displayName, ref, favorites, favBtn, true);
+  }
+
+  const QString favs =favRefs->join(";");
+  params.put("ModelManager_Favs", favs.toStdString());
+}
+
+/**
+ * Adds a child item to a given folder item within the QTreeWidget.
+ *
+ * @param displayName The text to display for the child item.
+ * @param ref A reference string that uniquely identifies the child item.
+ * @param folderItem The parent folder item to which the child item will be added.
+ * @param btn A pointer to a QPushButton associated with the child item. If nullptr, a new button will be created.
+ * @param addAtTop If true, the child item is added as the first child of the folder item; otherwise, it is appended to the end.
+ * @return A pointer to the created QTreeWidgetItem representing the child item.
+ */
+QTreeWidgetItem* TreeOptionDialog::addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem *folderItem, QPushButton *btn, bool addAtTop) {
+  QTreeWidgetItem *childItem = new QTreeWidgetItem();
+  if (btn == nullptr) {
+    btn = new QPushButton();
+  }
+  if (mapFavs->keys().contains(ref)) {
+    btn->setIcon(iconFilled);
+    (*mapFavs)[ref].append(btn);
+  } else {
+    btn->setIcon(iconBlank);
+  }
+  btn->setIconSize(QSize(100, 100));
+  QWidget *buttonContainer = new QWidget();
+  QHBoxLayout *layout = new QHBoxLayout(buttonContainer);
+  layout->addWidget(btn, 0, Qt::AlignRight);
+  childItem->setText(0, displayName);
+  childItem->setData(0, Qt::UserRole, ref);
+  childItem->setFlags(childItem->flags() | Qt::ItemIsSelectable);
+  if (addAtTop) {
+    folderItem->insertChild(0, childItem);
+  } else {
+    folderItem->addChild(childItem);
+  }
+  treeWidget->setItemWidget(childItem, 0, buttonContainer);
+
+  connect(btn, &QPushButton::clicked, btn, [=]() {
+    handleFavorites(displayName, ref, btn);
+  });
+  return childItem;
+}
@@ -8,9 +8,22 @@
 #include <QWidget>
 #include <QTreeWidget>

+#include "common/params.h"
 #include "selfdrive/ui/qt/widgets/keyboard.h"


+struct TreeNode {
+  QString folder;
+  QString displayName;
+  QString ref;
+  int index;
+};
+
+struct TreeFolder {
+  QString folder;
+  QList<TreeNode> items;
+};
+
 class DialogBase : public QDialog {
  Q_OBJECT

@@ -75,11 +88,20 @@ class TreeOptionDialog : public DialogBase {
  Q_OBJECT

 public:
-  explicit TreeOptionDialog(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
-  static QString getSelection(const QString &prompt_text, const QList<QPair<QString, QStringList>> &items, const QString &current, QWidget *parent = nullptr);
+  explicit TreeOptionDialog(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  static QString getSelection(const QString &prompt_text, const QList<TreeFolder> &items, const QString &current, const QString &favParam, QWidget *parent = nullptr);
+  void handleFavorites(const QString &displayName, const QString &ref, QPushButton* btn);
+  QTreeWidgetItem* addChildItem(const QString &displayName, const QString &ref, QTreeWidgetItem* folderItem, QPushButton* btn = nullptr, bool addAtTop = false);
  QString selection;

 private:
  QTreeWidget *treeWidget;
  QPushButton *confirm_btn;
+  Params params;
+  QMap<QString, QList<QPushButton*>> *mapFavs;
+  QStringList *favRefs;
+  QTreeWidgetItem *favorites;
+
+  QIcon iconBlank;
+  QIcon iconFilled;
 };
@@ -4,6 +4,7 @@ widgets_src = [
  "sunnypilot/qt/widgets/controls.cc",
  "sunnypilot/qt/widgets/drive_stats.cc",
  "sunnypilot/qt/widgets/expandable_row.cc",
+  "sunnypilot/qt/widgets/external_storage.cc",
  "sunnypilot/qt/widgets/prime.cc",
  "sunnypilot/qt/widgets/scrollview.cc",
  "sunnypilot/qt/network/networking.cc",
@@ -38,6 +39,7 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
  "sunnypilot/qt/onroad/annotated_camera.cc",
  "sunnypilot/qt/onroad/buttons.cc",
+  "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
  "sunnypilot/qt/onroad/hud.cc",
  "sunnypilot/qt/onroad/model.cc",
  "sunnypilot/qt/onroad/onroad_home.cc",
@@ -47,6 +49,7 @@ lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]

@@ -5,9 +5,14 @@
 * See the LICENSE.md file in the root directory for more details.
 */
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"

 DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(parent) {

+  #ifndef __APPLE__
+  addItem(new ExternalStorageControl());
+  #endif
+
  // Advanced Controls Toggle
  showAdvancedControls = new ParamControlSP("ShowAdvancedControls", tr("Show Advanced Controls"), tr("Toggle visibility of advanced sunnypilot controls.\nThis only toggles the visibility of the controls; it does not toggle the actual control enabled/disabled state."), "");
  addItem(showAdvancedControls);
@@ -22,6 +27,10 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
  enableGithubRunner = new ParamControlSP("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "", this, true);
  addItem(enableGithubRunner);

+  // Copyparty Toggle
+  enableCopyparty = new ParamControlSP("EnableCopyparty", tr("Enable Copyparty service"), tr("Copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via it's IP."), "", this, false);
+  addItem(enableCopyparty);
+
  // Quickboot Mode Toggle
  prebuiltToggle = new ParamControlSP("QuickBootToggle", tr("Enable Quickboot Mode"), tr(""), "", this, true);
  addItem(prebuiltToggle);
@@ -16,6 +16,7 @@ public:
  explicit DeveloperPanelSP(SettingsWindow *parent);

 private:
+  ParamControlSP *enableCopyparty;
  ParamControlSP *enableGithubRunner;
  ButtonControlSP *errorLogBtn;
  ParamControlSP *prebuiltToggle;
@@ -0,0 +1,87 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  auto *list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(new QWidget());
+
+  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
+  list->addItem(enableHkgAngleSmoothingFactor);
+
+  auto first_row = new QHBoxLayout();
+  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
+  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgTuningOverridingCycles);
+
+  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
+  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgAngleMinTorque);
+  list->addItem(first_row);
+
+  auto second_row = new QHBoxLayout();
+  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleActiveTorque);
+
+  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleMaxTorque);
+  list->addItem(second_row);
+  
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+
+  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
+  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
+  main_layout->addWidget(warning, 0, Qt::AlignCenter);
+}
+
+void AngleTunningSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void AngleTunningSettings::updateToggles(bool _offroad) {
+  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
+  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
+
+  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
+  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
+
+  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
+  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
+
+  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
+  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
+
+  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
+  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
+
+  offroad = _offroad;
+}
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleActiveTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+  OptionControlSP* hkgTuningOverridingCycles;
+};
@@ -89,6 +89,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
    nnlcToggle->updateToggle();
  });

+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tuning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
  toggleOffroadOnly = {
    madsToggle, nnlcToggle,
  };
@@ -99,6 +129,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
  main_layout->addWidget(laneChangeWidget);

  setStyleSheet(R"(
@@ -149,6 +180,7 @@ void LateralPanel::updateToggles(bool _offroad) {
  }

  madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());

  blinkerPauseLateralSettings->refresh();

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -39,8 +40,11 @@ private:
  bool offroad;

  ParamControl *madsToggle;
+  // ParamControl *angleTuningToggle;
  PushButtonSP *madsSettingsButton;
+  PushButtonSP *angleTuningSettingsButton;
  MadsSettings *madsWidget = nullptr;
+  AngleTunningSettings *angleTuningWidget = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
@@ -101,32 +101,42 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  QString policyType = tr("Policy Model");
  policyFrame = createModelDetailFrame(this, policyType, policyProgressBar);
  list->addItem(policyFrame);
-
  list->addItem(horizontal_line());

+  // Lane Turn Desire toggle
+  lane_turn_desire_toggle = new ParamControlSP("LaneTurnDesire", tr("Use Lane Turn Desires"),
+                            "If you’re driving at 20 mph (32 km/h) or below and have your blinker on, "
+                            "the car will plan a turn in that direction at the nearest drivable path. "
+                            "This prevents situations (like at red lights) where the car might plan the wrong turn direction.",
+                             "../assets/offroad/icon_shell.png");
+  list->addItem(lane_turn_desire_toggle);
+
+  // Lane Turn Value control
+  int max_value_mph = 20;
+  bool is_metric_initial = params.getBool("IsMetric");
+  const float K = 1.609344f;
+  int per_value_change_scaled = is_metric_initial ? static_cast<int>(std::round((1.0f / K) * 100.0f)) : 100; // 100 -> 1 mph
+  lane_turn_value_control = new OptionControlSP("LaneTurnValue", tr("Adjust Lane Turn Speed"),
+    tr("Set the maximum speed for lane turn desires. Default is 19 %1.").arg(is_metric_initial ? "km/h" : "mph"),
+    "", {5 * 100, max_value_mph * 100}, per_value_change_scaled, false, nullptr, true, true);
+  lane_turn_value_control->showDescription();
+  list->addItem(lane_turn_value_control);
+
+  // Show based on toggle
+  refreshLaneTurnValueControl();
+  connect(lane_turn_desire_toggle, &ParamControlSP::toggleFlipped, this, &ModelsPanel::refreshLaneTurnValueControl);
+  connect(lane_turn_value_control, &OptionControlSP::updateLabels, this, &ModelsPanel::refreshLaneTurnValueControl);
+
  // LiveDelay toggle
  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
  lagd_toggle_control->showDescription();
  list->addItem(lagd_toggle_control);

  // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+                                      tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                         "\nThe default software delay value is 0.2"),
+                                      "", {5, 50}, 1, false, nullptr, true, true);

  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -159,6 +169,19 @@ QFrame* ModelsPanel::createModelDetailFrame(QWidget *parent, QString &typeName,
  return frame;
 }

+void ModelsPanel::refreshLaneTurnValueControl() {
+  if (!lane_turn_value_control) return;
+  float stored_mph = QString::fromStdString(params.get("LaneTurnValue")).toFloat();
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  float display_value = stored_mph;
+  if (is_metric) {
+    display_value = stored_mph * 1.609344f;
+  }
+  lane_turn_value_control->setLabel(QString::number(static_cast<int>(std::round(display_value))) + " " + unit);
+  lane_turn_value_control->setVisible(params.getBool("LaneTurnDesire"));
+}
+
 /**
 * @brief Updates the UI with bundle download progress information
 * Reads status from modelManagerSP cereal message and displays status for all models
@@ -259,6 +282,18 @@ QString ModelsPanel::GetActiveModelInternalName() {
  return DEFAULT_MODEL;
 }

+/**
+ * @brief Gets the ref of the currently selected model bundle
+ * @return ref of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelRef() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getRef());
+  }
+
+  return DEFAULT_MODEL;
+}
+
 void ModelsPanel::updateModelManagerState() {
  const SubMaster &sm = *(uiStateSP()->sm);
  model_manager = sm["modelManagerSP"].getModelManagerSP();
@@ -272,34 +307,31 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
  currentModelLblBtn->setEnabled(false);
  currentModelLblBtn->setValue(tr("Fetching models..."));

-  struct ModelEntry {
-    QString folder;
-    QString displayName;
-    int index;
-  };
-  QList<ModelEntry> sortedModels;
+  QList<TreeNode> sortedModels;
  QSet<QString> modelFolders;
+  QRegularExpression re("\\(([^)]*)\\)[^(]*$");
  const auto bundles = model_manager.getAvailableBundles();

  for (const auto &bundle : bundles) {
    auto overrides = bundle.getOverrides();
-    QString gen;
+    QString folder;
    for (const auto &override : overrides) {
      if (override.getKey() == "folder") {
-        gen = QString::fromStdString(override.getValue().cStr());
+        folder = QString::fromStdString(override.getValue().cStr());
      }
    }

-    modelFolders.insert(gen);
-    sortedModels.append(ModelEntry{
-      gen,
+    modelFolders.insert(folder);
+    sortedModels.append(TreeNode{
+      folder,
      QString::fromStdString(bundle.getDisplayName()),
+      QString::fromStdString(bundle.getRef()),
      static_cast<int>(bundle.getIndex())
    });
  }

  std::sort(sortedModels.begin(), sortedModels.end(),
-    [](const ModelEntry &a, const ModelEntry &b) {
+    [](const TreeNode &a, const TreeNode &b) {
      return a.index > b.index;
    });

@@ -322,37 +354,46 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
      });

  // Create the final items list using sorted folders
-  QList<QPair<QString, QStringList>> items;
+  QList<TreeFolder> items;
  for (const auto &folderPair : folderMaxIndices) {
-    QStringList folderModels;
+    QList<TreeNode> folderModels;
+    QString folder = folderPair.first;
    for (const auto &model : sortedModels) {
      if (model.folder == folderPair.first) {
-        folderModels.append(model.displayName);
+        if (model.index == folderPair.second) {
+          QRegularExpressionMatch match = re.match(model.displayName);
+          if (match.hasMatch()) {
+            folder.append(" - (Updated: ").append(match.captured(1)).append(")");
+          }
+        }
+        folderModels.append(model);
      }
    }
-    items.append(qMakePair(folderPair.first, folderModels));
+    items.append(TreeFolder{folder, folderModels});
  }

-  items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+  items.insert(0, TreeFolder{"", {
+    TreeNode{"", DEFAULT_MODEL, DEFAULT_MODEL, -1}
+  }});

  currentModelLblBtn->setValue(GetActiveModelInternalName());

-  const QString selectedBundleName = TreeOptionDialog::getSelection(
-    tr("Select a Model"), items, GetActiveModelName(), this);
+  const QString selectedBundleRef = TreeOptionDialog::getSelection(
+    tr("Select a Model"), items, GetActiveModelRef(), QString("ModelManager_Favs"), this);

-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+  if (selectedBundleRef.isEmpty() || !canContinueOnMeteredDialog()) {
    return;
  }

  // Handle "Stock" selection differently
-  if (selectedBundleName == DEFAULT_MODEL) {
+  if (selectedBundleRef == DEFAULT_MODEL) {
    params.remove("ModelManager_ActiveBundle");
    currentModelLblBtn->setValue(tr("Default"));
    showResetParamsDialog();
  } else {
    // Find selected bundle and initiate download
    for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+      if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
          showResetParamsDialog();
@@ -383,34 +424,28 @@ void ModelsPanel::updateLabels() {
                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
  bool lagdEnabled = params.getBool("LagdToggle");
  if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
+    auto liveDelayBytes = params.get("LiveDelay");
    if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
+      auto LD = loadCerealEvent(params, "LiveDelay");
+      float lateralDelay = LD->getLiveDelay().getLateralDelay();
+      desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+              .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
    }
  } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
+    auto carParamsBytes = params.get("CarParamsPersistent");
    if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
+      AlignedBuffer aligned_buf_cp;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
+      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+      float steerDelay = CP.getSteerActuatorDelay();
      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
      float totalLag = steerDelay + softwareDelay;
      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+             .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                  tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                  tr("Total Delay:"), QString::number(totalLag, 'f', 2));
    }
  }
  lagd_toggle_control->setDescription(desc);
@@ -421,6 +456,9 @@ void ModelsPanel::updateLabels() {
    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
  }

+  // Update lane turn desire label and visibility
+  refreshLaneTurnValueControl();
+
  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

@@ -9,6 +9,7 @@

 #include <QProgressBar>

+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"

 class ModelsPanel : public QWidget {
@@ -20,6 +21,7 @@ public:
 private:
  QString GetActiveModelName();
  QString GetActiveModelInternalName();
+  QString GetActiveModelRef();
  void updateModelManagerState();
  void showEvent(QShowEvent *event) override;

@@ -36,6 +38,7 @@ private:
  void updateLabels();
  void handleCurrentModelLblBtnClicked();
  void handleBundleDownloadProgress();
+  void refreshLaneTurnValueControl();
  void showResetParamsDialog();
  QProgressBar* createProgressBar(QWidget *parent);
  QFrame* createModelDetailFrame(QWidget *parent, QString &typeName, QProgressBar *progressBar);
@@ -80,5 +83,6 @@ private:
  Params params;
  ButtonControlSP *clearModelCacheBtn;
  ButtonControlSP *refreshAvailableModelsBtn;
-
+  ParamControlSP *lane_turn_desire_toggle;
+  OptionControlSP *lane_turn_value_control;
 };
@@ -11,12 +11,39 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
  // branch selector
  QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
  connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
-    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+    if (Hardware::get_device_type() == cereal::InitData::DeviceType::TICI) {
+      auto current = params.get("GitBranch");
+      QStringList allBranches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+      QStringList branches;
+      for (const QString &b : allBranches) {
+        if (b.endsWith("-tici")) {
+          branches.append(b);
+        }
+      }
+
+      for (QString b : {current.c_str(), "master-tici", "staging-tici", "release-tici"}) {
+        auto i = branches.indexOf(b);
+        if (i >= 0) {
+          branches.removeAt(i);
+          branches.insert(0, b);
+        }
+      }
+
+      QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+      QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+      if (!selection.isEmpty()) {
+        params.put("UpdaterTargetBranch", selection.toStdString());
+        targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+        checkForUpdates();
+      }
+    } else {
+      InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
      d.setMinLength(0);
      const int ret = d.exec();
      if (ret) {
        searchBranches(d.text());
      }
+    }
  });

  // Disable Updates toggle
@@ -34,6 +34,27 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  vlayout->setContentsMargins(50, 20, 50, 20);

  auto *list = new ListWidget(this, false);
+
+  QVBoxLayout *titleLayout = new QVBoxLayout;
+  QLabel *title = new QLabel(tr("🚀 sunnylink 🚀"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  titleLayout->addWidget(title, 0, Qt::AlignCenter);
+
+  QLabel *sunnylinkDesc = new QLabel("<div align='center'><font color='green'>"+
+    tr("For secure backup, restore, and remote configuration")+ "</font></div>");
+
+  QLabel *sponsorMsg = new QLabel("<div align='center'><font color='orange'>"+
+    tr("Sponsorship isn't required for basic backup/restore") + "<br>" +
+       tr("Click the sponsor button for more details")+ "</font></div>");
+
+  sunnylinkDesc->setStyleSheet("font-size: 40px; font-weight: 100; font-family: 'Noto';");
+  sponsorMsg->setStyleSheet("font-size: 35px; font-weight: 100; font-family: 'Noto';");
+
+  titleLayout->addWidget(sunnylinkDesc, 0, Qt::AlignCenter);
+  titleLayout->addWidget(sponsorMsg, 0, Qt::AlignCenter);
+
+  list->addItem(titleLayout);
+
  QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
  sunnylinkEnabledBtn = new ParamControl(
    "SunnylinkEnabled",
@@ -28,6 +28,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "../assets/offroad/icon_monitoring.png",
      false,
    },
+    {
+      "RainbowMode",
+      tr("Enable Tesla Rainbow Mode"),
+      RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
  };

  // Add regular toggles first
@@ -65,6 +72,15 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  list->addItem(chevron_info_settings);
  param_watcher->addParam("ChevronInfo");

+  // Visuals: Developer UI Info (Dev UI)
+  std::vector<QString> dev_ui_settings_texts{tr("Off"), tr("Right"), tr("Right &&\nBottom")};
+  dev_ui_settings = new ButtonParamControlSP(
+    "DevUIInfo", tr("Developer UI"), tr("Display real-time parameters and metrics from various sources."),
+    "",
+    dev_ui_settings_texts,
+    380);
+  list->addItem(dev_ui_settings);
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -83,4 +99,7 @@ void VisualsPanel::paramsRefresh() {
  if (chevron_info_settings) {
    chevron_info_settings->refresh();
  }
+  if (dev_ui_settings) {
+    dev_ui_settings->refresh();
+  }
 }
@@ -28,4 +28,5 @@ protected:
 std::map<std::string, ParamControlSP*> toggles;
 ParamWatcher * param_watcher;
 ButtonParamControlSP *chevron_info_settings;
+ ButtonParamControlSP *dev_ui_settings;
 };
@@ -14,3 +14,8 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget
 void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
  AnnotatedCameraWidget::updateState(s);
 }
+
+void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
+  AnnotatedCameraWidget::showEvent(event);
+  ui_update_params_sp(uiState());
+}
@@ -15,4 +15,7 @@ class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
 public:
  explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
  void updateState(const UIState &s) override;
+
+protected:
+  void showEvent(QShowEvent *event) override;
 };
@@ -0,0 +1,227 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include <cmath>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
+
+
+// Add Relative Distance to Primary Lead Car
+// Unit: Meters
+UiElement DeveloperUi::getDRel(bool lead_status, float lead_d_rel) {
+  QString value = lead_status ? QString::number(lead_d_rel, 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Orange if close, Red if very close
+    if (lead_d_rel < 5) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_d_rel < 15) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL DIST", "m", color);
+}
+
+// Add Relative Velocity vs Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number(lead_v_rel * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "REL SPEED", speed_unit, color);
+}
+
+// Add Real Steering Angle
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override) {
+  QString value = QString("%1%2%3").arg(QString::number(angle_steers, 'f', 1)).arg("°").arg("");
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  // Red if large steering angle
+  // Orange if moderate steering angle
+  if (std::fabs(angle_steers) > 180) {
+    color = QColor(255, 0, 0, 255);
+  } else if (std::fabs(angle_steers) > 90) {
+    color = QColor(255, 188, 0, 255);
+  }
+
+  return UiElement(value, "REAL STEER", "", color);
+}
+
+// Add Actual Lateral Acceleration (roll compensated) when using Torque
+// Unit: m/s²
+UiElement DeveloperUi::getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  double actualLateralAccel = (curvature * pow(v_ego, 2)) - (roll * 9.81);
+
+  QString value = QString::number(actualLateralAccel, 'f', 2);
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACTUAL L.A.", "m/s²", color);
+}
+
+// Add Desired Steering Angle when using PID
+// Unit: Degrees
+UiElement DeveloperUi::getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers) {
+  QString value = lat_active ? QString("%1%2%3").arg(QString::number(steer_angle_desired, 'f', 1)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lat_active) {
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angle_steers) > 180) {
+      color = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angle_steers) > 90) {
+      color = QColor(255, 188, 0, 255);
+    } else {
+      color = QColor(0, 255, 0, 255);
+    }
+  }
+
+  return UiElement(value, "DESIRED STEER", "", color);
+}
+
+// Add Device Memory (RAM) Usage
+// Unit: Percent
+UiElement DeveloperUi::getMemoryUsagePercent(int memory_usage_percent) {
+  QString value = QString("%1%2").arg(QString::number(memory_usage_percent, 'd', 0)).arg("%");
+  QColor color = (memory_usage_percent > 85) ? QColor(255, 188, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "RAM", "", color);
+}
+
+// Add Vehicle Current Acceleration
+// Unit: m/s²
+UiElement DeveloperUi::getAEgo(float a_ego) {
+  QString value = QString::number(a_ego, 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ACC.", "m/s²", color);
+}
+
+// Add Relative Velocity to Primary Lead Car
+// Unit: kph if metric, else mph
+UiElement DeveloperUi::getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit) {
+  QString value = lead_status ? QString::number((lead_v_rel + v_ego) * (is_metric ? MS_TO_KPH : MS_TO_MPH), 'f', 0) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  if (lead_status) {
+    // Red if approaching faster than 10mph
+    // Orange if approaching (negative)
+    if (lead_v_rel < -4.4704) {
+      color = QColor(255, 0, 0, 255);
+    } else if (lead_v_rel < 0) {
+      color = QColor(255, 188, 0, 255);
+    }
+  }
+
+  return UiElement(value, "L.S.", speed_unit, color);
+}
+
+// Add Friction Coefficient Raw from torqued
+// Unit: None
+UiElement DeveloperUi::getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid) {
+  QString value = QString::number(friction_coefficient_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "FRIC.", "", color);
+}
+
+// Add Lateral Acceleration Factor Raw from torqued
+// Unit: m/s²
+UiElement DeveloperUi::getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid) {
+  QString value = QString::number(lat_accel_factor_filtered, 'f', 3);
+  QColor color = live_valid ? QColor(0, 255, 0, 255) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, "L.A.", "m/s²", color);
+}
+
+// Add Steering Torque from Car EPS
+// Unit: Newton Meters
+UiElement DeveloperUi::getSteeringTorqueEps(float steering_torque_eps) {
+  QString value = QString::number(std::fabs(steering_torque_eps), 'f', 1);
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "E.T.", "N·dm", color);
+}
+
+// Add Bearing Degree and Direction from Car (Compass)
+// Unit: Meters
+UiElement DeveloperUi::getBearingDeg(float bearing_accuracy_deg, float bearing_deg) {
+  QString value = (bearing_accuracy_deg != 180.00) ? QString("%1%2%3").arg(QString::number(bearing_deg, 'd', 0)).arg("°").arg("") : "-";
+  QColor color = QColor(255, 255, 255, 255);
+  QString dir_value;
+
+  if (bearing_accuracy_deg != 180.00) {
+    if (((bearing_deg >= 337.5) && (bearing_deg <= 360)) || ((bearing_deg >= 0) && (bearing_deg <= 22.5))) {
+      dir_value = "N";
+    } else if ((bearing_deg > 22.5) && (bearing_deg < 67.5)) {
+      dir_value = "NE";
+    } else if ((bearing_deg >= 67.5) && (bearing_deg <= 112.5)) {
+      dir_value = "E";
+    } else if ((bearing_deg > 112.5) && (bearing_deg < 157.5)) {
+      dir_value = "SE";
+    } else if ((bearing_deg >= 157.5) && (bearing_deg <= 202.5)) {
+      dir_value = "S";
+    } else if ((bearing_deg > 202.5) && (bearing_deg < 247.5)) {
+      dir_value = "SW";
+    } else if ((bearing_deg >= 247.5) && (bearing_deg <= 292.5)) {
+      dir_value = "W";
+    } else if ((bearing_deg > 292.5) && (bearing_deg < 337.5)) {
+      dir_value = "NW";
+    }
+  } else {
+    dir_value = "OFF";
+  }
+
+  return UiElement(QString("%1 | %2").arg(dir_value).arg(value), "B.D.", "", color);
+}
+
+// Add Altitude of Current Location
+// Unit: Meters
+UiElement DeveloperUi::getAltitude(float gps_accuracy, float altitude) {
+  QString value = (gps_accuracy != 0.00) ? QString::number(altitude, 'f', 1) : "-";
+  QColor color = QColor(255, 255, 255, 255);
+
+  return UiElement(value, "ALT.", "m", color);
+}
+
+// Add Actuators Output
+// Unit: Degree (angle) or m/s² (torque)
+UiElement DeveloperUi::getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                                 cereal::CarControl::Actuators::Reader &actuators,
+                                                 float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override) {
+  QString label;
+  QString value;
+  QString unit;
+
+  if (steerControlType == cereal::CarParams::SteerControlType::ANGLE) {
+    label = "DESIRED STEER";
+    value = QString("%1%2%3").arg(QString::number(actuators.getSteeringAngleDeg(), 'f', 1)).arg("°").arg("");
+  } else {
+    label = "DESIRED L.A.";
+    double desiredLateralAccel = (desiredCurvature * pow(v_ego, 2)) - (roll * 9.81);
+    value = QString::number(desiredLateralAccel, 'f', 2);
+    unit = "m/s²";
+  }
+
+  value = lat_active ? value : "-";
+  QColor color = lat_active ? (steer_override ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 255, 0, 255)) : QColor(255, 255, 255, 255);
+
+  return UiElement(value, label, unit, color);
+}
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/ui_elements.h"
+
+class DeveloperUi {
+
+public:
+  static UiElement getDRel(bool lead_status, float lead_d_rel);
+  static UiElement getVRel(bool lead_status, float lead_v_rel, bool is_metric, const QString &speed_unit);
+  static UiElement getSteeringAngleDeg(float angle_steers, bool lat_active, bool steer_override);
+  static UiElement getActualLateralAccel(float curvature, float v_ego, float roll, bool lat_active, bool steer_override);
+  static UiElement getSteeringAngleDesiredDeg(bool lat_active, float steer_angle_desired, float angle_steers);
+  static UiElement getMemoryUsagePercent(int memory_usage_percent);
+  static UiElement getAEgo(float a_ego);
+  static UiElement getVEgoLead(bool lead_status, float lead_v_rel, float v_ego, bool is_metric, const QString &speed_unit);
+  static UiElement getFrictionCoefficientFiltered(float friction_coefficient_filtered, bool live_valid);
+  static UiElement getLatAccelFactorFiltered(float lat_accel_factor_filtered, bool live_valid);
+  static UiElement getSteeringTorqueEps(float steering_torque_eps);
+  static UiElement getBearingDeg(float bearing_accuracy_deg, float bearing_deg);
+  static UiElement getAltitude(float gps_accuracy, float altitude);
+  static UiElement getActuatorsOutputLateral(cereal::CarParams::SteerControlType steerControlType,
+                                             cereal::CarControl::Actuators::Reader &actuators,
+                                             float desiredCurvature, float v_ego, float roll, bool lat_active, bool steer_override);
+};
@@ -0,0 +1,19 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+#include <QColor>
+
+struct UiElement {
+  QString value{};
+  QString label{};
+  QString units{};
+  QColor color{};
+
+  explicit UiElement(const QString &value = "", const QString &label = "", const QString &units = "", const QColor &color = QColor(255, 255, 255, 255))
+    : value(value), label(label), units(units), color(color) {}
+};
@@ -7,12 +7,202 @@

 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"

+#include "selfdrive/ui/qt/util.h"
+
+
 HudRendererSP::HudRendererSP() {}

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);
+
+  const SubMaster &sm = *(s.sm);
+  const bool cs_alive = sm.alive("controlsState");
+  const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
+  const auto car_params = sm["carParams"].getCarParams();
+
+  static int reverse_delay = 0;
+  bool reverse_allowed = false;
+  if (int(car_state.getGearShifter()) != 4) {
+    reverse_delay = 0;
+    reverse_allowed = false;
+  } else {
+    reverse_delay += 50;
+    if (reverse_delay >= 1000) {
+      reverse_allowed = true;
+    }
+  }
+
+  reversing = reverse_allowed;
+  is_metric = s.scene.is_metric;
+
+  // Handle older routes where vEgoCluster is not set
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  latActive = car_control.getLatActive();
+  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  lead_d_rel = radar_state.getLeadOne().getDRel();
+  lead_v_rel = radar_state.getLeadOne().getVRel();
+  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
+  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
+  angleSteers = car_state.getSteeringAngleDeg();
+  desiredCurvature = cs.getDesiredCurvature();
+  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
+  vEgo = car_state.getVEgo();
+  aEgo = car_state.getAEgo();
+  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
  HudRenderer::draw(p, surface_rect);
+  if (!reversing) {
+    // Bottom Dev UI
+    if (devUiInfo == 2) {
+      QRect rect_bottom(surface_rect.left(), surface_rect.bottom() - 60, surface_rect.width(), 61);
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(0, 0, 0, 100));
+      p.drawRect(rect_bottom);
+      drawBottomDevUI(p, rect_bottom.left(), rect_bottom.center().y());
+    }
+
+    // Right Dev UI
+    if (devUiInfo != 0) {
+      QRect rect_right(surface_rect.right() - (UI_BORDER_SIZE * 2), UI_BORDER_SIZE * 1.5, 184, 170);
+      drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
+    }
+  }
+}
+
+void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
+int HudRendererSP::drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+
+  p.setFont(InterFont(28, QFont::Bold));
+  x += 92;
+  y += 80;
+  drawText(p, x, y, label);
+
+  p.setFont(InterFont(30 * 2, QFont::Bold));
+  y += 65;
+  drawText(p, x, y, value, color);
+
+  p.setFont(InterFont(28, QFont::Bold));
+
+  if (units.length() > 0) {
+    p.save();
+    x += 120;
+    y -= 25;
+    p.translate(x, y);
+    p.rotate(-90);
+    drawText(p, 0, 0, units);
+    p.restore();
+  }
+
+  return 130;
+}
+
+void HudRendererSP::drawRightDevUI(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  UiElement dRelElement = DeveloperUi::getDRel(lead_status, lead_d_rel);
+  rh += drawRightDevUIElement(p, x, ry, dRelElement.value, dRelElement.label, dRelElement.units, dRelElement.color);
+  ry = y + rh;
+
+  UiElement vRelElement = DeveloperUi::getVRel(lead_status, lead_v_rel, is_metric, speedUnit);
+  rh += drawRightDevUIElement(p, x, ry, vRelElement.value, vRelElement.label, vRelElement.units, vRelElement.color);
+  ry = y + rh;
+
+  UiElement steeringAngleDegElement = DeveloperUi::getSteeringAngleDeg(angleSteers, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, steeringAngleDegElement.value, steeringAngleDegElement.label, steeringAngleDegElement.units, steeringAngleDegElement.color);
+  ry = y + rh;
+
+  UiElement actuatorsOutputLateralElement = DeveloperUi::getActuatorsOutputLateral(steerControlType, actuators, desiredCurvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actuatorsOutputLateralElement.value, actuatorsOutputLateralElement.label, actuatorsOutputLateralElement.units, actuatorsOutputLateralElement.color);
+  ry = y + rh;
+
+  UiElement actualLateralAccelElement = DeveloperUi::getActualLateralAccel(curvature, vEgo, roll, latActive, steerOverride);
+  rh += drawRightDevUIElement(p, x, ry, actualLateralAccelElement.value, actualLateralAccelElement.label, actualLateralAccelElement.units, actualLateralAccelElement.color);
+}
+
+int HudRendererSP::drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color) {
+  p.setFont(InterFont(38, QFont::Bold));
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(label + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, label + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect2 = fm.boundingRect(value);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, value);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveLeft(real_rect.right() + 10);
+
+  QRect init_rect3 = fm.boundingRect(units);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, units);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect2.right() + 10);
+
+  p.setPen(Qt::white);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, label);
+
+  p.setPen(color);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, value);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, units);
+  return 430;
+}
+
+void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  UiElement aEgoElement = DeveloperUi::getAEgo(aEgo);
+  rw += drawBottomDevUIElement(p, rw, y, aEgoElement.value, aEgoElement.label, aEgoElement.units, aEgoElement.color);
+
+  UiElement vEgoLeadElement = DeveloperUi::getVEgoLead(lead_status, lead_v_rel, vEgo, is_metric, speedUnit);
+  rw += drawBottomDevUIElement(p, rw, y, vEgoLeadElement.value, vEgoLeadElement.label, vEgoLeadElement.units, vEgoLeadElement.color);
+
+  if (torqueLateral && torquedUseParams) {
+    UiElement frictionCoefficientFilteredElement = DeveloperUi::getFrictionCoefficientFiltered(frictionCoefficientFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, frictionCoefficientFilteredElement.value, frictionCoefficientFilteredElement.label, frictionCoefficientFilteredElement.units, frictionCoefficientFilteredElement.color);
+
+    UiElement latAccelFactorFilteredElement = DeveloperUi::getLatAccelFactorFiltered(latAccelFactorFiltered, liveValid);
+    rw += drawBottomDevUIElement(p, rw, y, latAccelFactorFilteredElement.value, latAccelFactorFilteredElement.label, latAccelFactorFilteredElement.units, latAccelFactorFilteredElement.color);
+  } else {
+    UiElement steeringTorqueEpsElement = DeveloperUi::getSteeringTorqueEps(steeringTorqueEps);
+    rw += drawBottomDevUIElement(p, rw, y, steeringTorqueEpsElement.value, steeringTorqueEpsElement.label, steeringTorqueEpsElement.units, steeringTorqueEpsElement.color);
+
+    UiElement bearingDegElement = DeveloperUi::getBearingDeg(bearingAccuracyDeg, bearingDeg);
+    rw += drawBottomDevUIElement(p, rw, y, bearingDegElement.value, bearingDegElement.label, bearingDegElement.units, bearingDegElement.color);
+  }
+
+  UiElement altitudeElement = DeveloperUi::getAltitude(gpsAccuracy, altitude);
+  rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
@@ -7,9 +7,8 @@

 #pragma once

-#include <QPainter>
-
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"

 class HudRendererSP : public HudRenderer {
  Q_OBJECT
@@ -18,4 +17,40 @@ public:
  HudRendererSP();
  void updateState(const UIState &s) override;
  void draw(QPainter &p, const QRect &surface_rect) override;
+
+private:
+  Params params;
+  void drawText(QPainter &p, int x, int y, const QString &text, QColor color = Qt::white);
+  void drawRightDevUI(QPainter &p, int x, int y);
+  int drawRightDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  int drawBottomDevUIElement(QPainter &p, int x, int y, const QString &value, const QString &label, const QString &units, QColor &color);
+  void drawBottomDevUI(QPainter &p, int x, int y);
+
+  bool lead_status;
+  float lead_d_rel;
+  float lead_v_rel;
+  bool torqueLateral;
+  float angleSteers;
+  float desiredCurvature;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  QString speedUnit;
+  bool latActive;
+  bool steerOverride;
+  bool reversing;
+  cereal::CarParams::SteerControlType steerControlType;
+  cereal::CarControl::Actuators::Reader actuators;
 };
@@ -48,5 +48,43 @@ void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Rea
      painter.drawPolygon(right_blindspot_vertices);
    }
  }
-  ModelRenderer::drawPath(painter, model, surface_rect.height());
+
+  bool rainbow = Params().getBool("RainbowMode");
+  //float v_ego = sm["carState"].getCarState().getVEgo();
+
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
+  } else {
+    // Normal path rendering
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
+  }
 }
@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
  }
  return search_results;
 }
+
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
+  std::string bytes = params.get(_param);
+
+  try {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
+    return cmsg.getRoot<cereal::Event>();
+  } catch (kj::Exception& e) {
+    qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
+    return std::nullopt;
+  }
+}
@@ -15,8 +15,11 @@
 #include <QRegularExpression>
 #include <QWidget>

+#include "selfdrive/ui/sunnypilot/ui.h"
+
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
+std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
@@ -750,3 +750,24 @@ public:
    setFixedSize(400, 100);
  }
 };
+
+inline QString RainbowizeWords(const QString &text) {
+  const QStringList colors = {
+    "#FF6F61",  // soft coral red
+    "#FFA177",  // warm peach
+    "#FFD966",  // soft golden yellow
+    "#88D498",  // mint green
+    "#6EC6FF",  // sky blue
+    "#A78BFA",  // soft lavender
+    "#F78FB3"   // rose pink
+  };
+    
+    QString result;
+    QStringList words = text.split(' ');
+    
+    for (int i = 0; i < words.size(); ++i) {
+      result += QString("<font color='%1'>%2</font> ").arg(colors[i % colors.size()]).arg(words[i].toHtmlEscaped());
+    }
+    
+    return result.trimmed();
+  }
@@ -0,0 +1,170 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/external_storage.h"
+
+#include <QProcess>
+#include <QCoreApplication>
+#include <QShowEvent>
+#include <QTimer>
+#include <QtConcurrent>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+ExternalStorageControl::ExternalStorageControl() :
+  ButtonControl(tr("External Storage"), "", tr("Extend your comma device's storage by inserting a USB drive into the aux port.")) {
+
+  QObject::connect(this, &ButtonControl::clicked, [=]() {
+    if (text() == tr("CHECK") || text() == tr("MOUNT")) {
+      mountStorage();
+    } else if (text() == tr("UNMOUNT")) {
+      unmountStorage();
+    } else if (text() == tr("FORMAT")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to format this drive? This will erase all data."), tr("Format"), this)) {
+        formatStorage();
+      }
+    }
+  });
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &ExternalStorageControl::updateState);
+  updateState(!uiState()->scene.started);
+
+  refresh();
+}
+
+void ExternalStorageControl::updateState(bool offroad) {
+  setEnabled(offroad);
+}
+
+void ExternalStorageControl::debouncedRefresh() {
+  if (refreshPending) return;
+  refreshPending = true;
+
+  QTimer::singleShot(250, this, [=]() {
+    refreshPending = false;
+    refresh();
+  });
+}
+
+void ExternalStorageControl::refresh() {
+  QtConcurrent::run([=]() {
+    auto run = [](const QString &cmd) {
+      QProcess p;
+      p.start("sh", QStringList() << "-c" << cmd);
+      p.waitForFinished();
+      return p.exitCode() == 0;
+    };
+
+    bool isMounted = run("findmnt -n /mnt/external_realdata");
+    bool hasDrive = run("lsblk -f /dev/sdg");
+    bool hasFs = run("lsblk -f /dev/sdg1 | grep -q ext4");
+    bool hasLabel = run("sudo blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'");
+
+    QString info;
+    if (isMounted && hasLabel) {
+      QProcess df;
+      df.start("sh", QStringList() << "-c" << "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'");
+      df.waitForFinished();
+      info = df.readAllStandardOutput().trimmed();
+    }
+
+    QMetaObject::invokeMethod(this, [=]() {
+      if (formatting) {
+        setValue(tr("formatting"));
+        setText(tr("FORMAT"));
+        setEnabled(false);
+      } else {
+        if (!hasDrive) {
+          setValue(tr("insert drive"));
+          setText(tr("CHECK"));
+        } else if (!hasFs || !hasLabel) {
+          setValue(tr("needs format"));
+          setText(tr("FORMAT"));
+        } else if (isMounted) {
+          setValue(info);
+          setText(tr("UNMOUNT"));
+        } else {
+          setValue("drive detected");
+          setText(tr("MOUNT"));
+        }
+        updateState(!uiState()->scene.started);
+      }
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::mountStorage() {
+  setValue(tr("mounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" <<
+      "sudo mount -o remount,rw / && "
+      "sudo mkdir -p /mnt/external_realdata && "
+      "grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab || "
+      "echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' | sudo tee -a /etc/fstab && "
+      "sudo systemctl daemon-reexec && "
+      "sudo mount /mnt/external_realdata && "
+      "sudo chown -R comma:comma /mnt/external_realdata && "
+      "sudo chmod -R 775 /mnt/external_realdata && "
+      "sudo mount -o remount,ro /");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::unmountStorage() {
+  setValue(tr("unmounting"));
+  setEnabled(false);
+
+  QtConcurrent::run([=]() {
+    QProcess process;
+    process.start("sh", QStringList() << "-c" << "sudo umount /mnt/external_realdata");
+    process.waitForFinished();
+
+    QMetaObject::invokeMethod(this, [=]() {
+      debouncedRefresh();
+    }, Qt::QueuedConnection);
+  });
+}
+
+void ExternalStorageControl::formatStorage() {
+  unmountStorage();
+  formatting = true;
+  setValue(tr("formatting"));
+  setEnabled(false);
+
+  QProcess *process = new QProcess(this);
+  connect(process, static_cast<void(QProcess::*)(int, QProcess::ExitStatus)>(&QProcess::finished),
+          this, [=](int exitCode, QProcess::ExitStatus status) {
+            process->deleteLater();
+            formatting = false;
+            if (exitCode == 0 && status == QProcess::NormalExit) {
+              mountStorage();
+            } else {
+              setValue(tr("needs format"));
+              updateState(!uiState()->scene.started);
+            }
+          });
+  process->start("sh", QStringList() << "-c" <<
+    "sudo wipefs -a /dev/sdg && "
+    "sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% && "
+    "sudo mkfs.ext4 -F -L openpilot /dev/sdg1"
+  );
+}
+
+void ExternalStorageControl::showEvent(QShowEvent *event) {
+  ButtonControl::showEvent(event);
+  QTimer::singleShot(100, this, &ExternalStorageControl::debouncedRefresh);
+}
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#define ButtonControl ButtonControlSP
+
+class ExternalStorageControl : public ButtonControl {
+  Q_OBJECT
+
+public:
+  ExternalStorageControl();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  Params params;
+
+  bool refreshPending = false;
+  bool formatting = false;
+  void updateState(bool offroad);
+  void refresh();
+  void debouncedRefresh();
+  void mountStorage();
+  void unmountStorage();
+  void formatStorage();
+};
--- a/Show More
+++ b/Show More